Robot mobili e tecnologie marine del centro ISME. Alessandro Ridolfi Dipartimento di Ingegneria Industriale Università di Firenze nodo ISME

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1 Robot mobili e tecnologie marine del centro ISME Alessandro Ridolfi Dipartimento di Ingegneria Industriale Università di Firenze nodo ISME

2 NATIONAL INTER-UNIVERSITY CENTER TO SUPPORT RESEARCH ACTIVITIES IN THE FIELDS OF MARINE TECHNOLOGIES AND OCEANIC ENGINEERING Established in 1999 About 60 researchers Shared infrastructures, labs, equipments

3 ULISSE Catamaran ASV 3m x 1.8m; 2 electrical motors Mass 400 kg Batteries inside each hulls (more than 8h autonomy) 200 kg of payload can be installed Speed (5 m/s w/o payload, 2.5 m/s w/ payload) Electric motor power (single motor) 2000 W Motor static thrust (single motor) 512 N Available power for payloads V Wireless 5 GHz Ubiquiti Autonomous platform Way-points and parameterized path following Reference: Enrico Simetti Università di Genova ISME Partners

4 ULISSE Catamaran ASV Deck for lowering underwater sensors through a movable mast Deck for UAV landing Waypoint navigation Hold position against current Path following Research trends involving ULISSE Autonomous geotechnical surveys (EU H2020 WiMUST project) Obstacle detection and avoidance Cooperative behaviours between multiple vehicles Efficient thruster allocation Reference: Enrico Simetti Università di Genova ISME Partners

5 Folaga AUV The Folaga AUV is a low-cost platform with surface navigation capability: Diameter 155 mm Length from 2,000 mm Weight in air 31 kg Energy storage: NiMh batteries 12V 45Ah Speed: 2kn (up to 4kn if required) Control: pitch/yaw thruster, movable ballast, active buoyancy control Endurance: six hours at max speed Maneuverability: any bearing and trim with no active surfaces Max depth: 80 m (underwater navigation) ISME Partners

6 WAVE project Wave powered Autonomous Vehicle for marine Exploration Long Endurance AUV Energy harvesting from wave motion with releasable wings Charging/Wings system as a module of efolaga vehicle Re-charge of low power payload battery Possible integration with solar panels Possible exploitation for wave-generated motion at the sea surface ISME Partner PNRM Project industrial partner:

7 AUV Development and testing Vehicle design GNC development HMI for multi-vehicle management ROS-based software architecture Optical and acoustic acquisitions Underwater 2D mosaicing and 3D reconstructions Low-cost technologies to be used in different fields, e.g. archaeology or geology Contacts in Florence (University of Florence ISME node): Benedetto Allotta and Alessandro Ridolfi ISME Partners

8 Typhoon-class AUV Weight: about 180 kg Hull material: fiberglass Maximum pressure: 30 bar (300m depth) Maximum speed: 5 knots Sizes: 3700 X 330Ø mm ISME Partners Onboard devices Power supply: 48V DC X 4kWh (8h of autonomy) Linux + ROS Magnetic compass + MEMS IMU FOG (Fiber Optic Gyroscope) DVL (Doppler Velocity Log) Depth sensor + Altimeter Echo-sounder GPS Wi-Fi + Radio modem Acoustic modem Cameras + Side Scan Sonar

9 MARTA AUV Weight: about 80 kg Hull material: Anticorodal Al Maximum depth: 150 m Maximum speed: 4 knots Sizes: 3700 X 177Ø mm Modularity Onboard devices Power supply: 24V DC X 1300 Wh (8h of autonomy) Linux + ROS Magnetic compass + MEMS IMU FOG (Fiber Optic Gyroscope) DVL (Doppler Velocity Log) Depth sensor + Altimeter Echo-sounder GPS Wi-Fi + Radio modem 2 acoustic modems Cameras + 2D Forward Looking Sonar ISME Partners

10 MARTA AUV From optical images Basler Ace camera Cala Minnola, Sicily, Italy

11 MARTA AUV 2D mosaic to 2D and 3D reconstructions 3D reconstruction ISME Partners

12 Zeno AUV Weight: about 35 kg Hull material: Anticorodal Al + carbon fiber Maximum depth: 120 m Maximum speed: 4 knots Sizes: 1000X800X500 mm Hovering 8 motors Quick battery replacement Onboard devices Power supply: 14,8V DC X 600 Wh Linux + ROS Magnetic compass + MEMS IMU FOG (Fiber Optic Gyroscope) DVL (Doppler Velocity Log) Depth sensor + Altimeter Echo-sounder GPS Wi-Fi + Radio modem Acoustic modem Cameras + Side Scan Sonar ISME Partners

13 FeelHippo AUV Weight: 35 kg Hull material: Anticorodal Al + plexiglas Maximum depth: 30 m Maximum speed: 2 knots Autonomy: about 3 h Sizes: 600X640X500 mm 4 motors (V shape) Onboard devices Power supply: 24V DC Linux + ROS Magnetic compass + MEMS IMU FOG (Fiber Optic Gyroscope) DVL (Doppler Velocity Log) Depth sensor + Altimeter Echo-sounder GPS Wi-Fi + Radio modem Acoustic modem Cameras + 2D Forward Looking Sonar ISME Partners

14 FeelHippo AUV

15 Other ISME technologies ROVs Static nodes and acoustic modems Underwater grippers Tablets and technologies for divers

16 Contacts Director Giuseppe Casalino - DIBRIS - University of Genova - casalino@dist.unige.it Associated Universities and Departments with points of contact Polytechnical University of Marche Giuseppe Conte - conte@univpm.it University of Cassino and Southern Lazio Gianluca Antonelli - antonelli@unicas.it University of Genova Giuseppe Casalino - casalino@dist.unige.it Andrea Trucco - trucco@ieee.org University of Salento Giovanni Indiveri - giovanni.indiveri@unisalento.it University of Pisa Andrea Caiti - andrea.caiti@unipi.it University of Florence Benedetto Allotta - benedetto.allotta@unifi.it University of Calabria Alessandro Casavola - a.casavola@dimes.unical.it University of Roma La Sapienza Chiara Petrioli - petrioli@di.uniroma1.it University of Bologna Claudio Melchiorri- claudio.melchiorri@unibo.it

17 Thank you!

18 Contacts: Alessandro Ridolfi Dipartimento di Ingegneria Industriale Università di Firenze nodo ISME Via di Santa Marta 3, Firenze, Italia